Stabilizing function of the musculoskeletal system for periodic motion

Yasuhiro Sugimoto, Shinya Aoi, Naomichi Ogihara, Kazuo Tsuchiya

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


Animals generate various motions by cooperatively manipulating their complicated and redundant musculoskeletal systems controlled by the nervous system. To reveal the mechanism with which a steady movement is generated, much research has been performed that shows that musculoskeletal properties themselves can stabilze motion without a sensory feedback system if the muscle architecture and the parallel elastic elements within a muscle are tuned appropriately. In this paper, we show that the condition of stability is greatly eased by limiting the targeted movement to the periodic motion. The force-velocity relationship, which is one of the most famous properties of muscle, plays a decisive role in realizing the self-stabilizing ability of the musculoskeletal system.

Original languageEnglish
Pages (from-to)521-534
Number of pages14
JournalAdvanced Robotics
Issue number5
Publication statusPublished - 2009 Mar 1
Externally publishedYes


  • Musculoskeltal system
  • Periodic motion
  • Preflex
  • Self-stability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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